373 lines
14 KiB
C
373 lines
14 KiB
C
/************************************************************************************
|
|
* include/nuttx/can.h
|
|
*
|
|
* Copyright (C) 2008, 2009, 2011-2012 Gregory Nutt. All rights reserved.
|
|
* Author: Gregory Nutt <gnutt@nuttx.org>
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name NuttX nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
************************************************************************************/
|
|
|
|
#ifndef _INCLUDE_NUTTX_CAN_H
|
|
#define _INCLUDE_NUTTX_CAN_H
|
|
|
|
/************************************************************************************
|
|
* Included Files
|
|
************************************************************************************/
|
|
|
|
#include <nuttx/config.h>
|
|
#include <nuttx/compiler.h>
|
|
|
|
#include <sys/types.h>
|
|
#include <stdint.h>
|
|
#include <stdbool.h>
|
|
#include <semaphore.h>
|
|
|
|
#include <nuttx/fs/fs.h>
|
|
|
|
#ifdef CONFIG_CAN
|
|
|
|
/************************************************************************************
|
|
* Pre-processor Definitions
|
|
************************************************************************************/
|
|
/* Configuration ********************************************************************/
|
|
/* CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
|
|
* CONFIG_STM32_CAN2 must also be defined)
|
|
* CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
|
|
* Standard 11-bit IDs.
|
|
* CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
|
|
* Default: 8
|
|
* CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
|
|
* Default: 4
|
|
* CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
|
|
* mode for testing. If the driver does support loopback mode, the setting
|
|
* will enable it. (If the driver does not, this setting will have no effect).
|
|
*/
|
|
|
|
/* Default configuration settings that may be overridden in the NuttX configuration
|
|
* file or in the board configuration file. The configured size is limited to 255
|
|
* to fit into a uint8_t.
|
|
*/
|
|
|
|
#if !defined(CONFIG_CAN_FIFOSIZE)
|
|
# define CONFIG_CAN_FIFOSIZE 8
|
|
#elif CONFIG_CAN_FIFOSIZE > 255
|
|
# undef CONFIG_CAN_FIFOSIZE
|
|
# define CONFIG_CAN_FIFOSIZE 255
|
|
#endif
|
|
|
|
#if !defined(CONFIG_CAN_NPENDINGRTR)
|
|
# define CONFIG_CAN_NPENDINGRTR 4
|
|
#elif CONFIG_CAN_NPENDINGRTR > 255
|
|
# undef CONFIG_CAN_NPENDINGRTR
|
|
# define CONFIG_CAN_NPENDINGRTR 255
|
|
#endif
|
|
|
|
/* Convenience macros */
|
|
|
|
#define dev_reset(dev) dev->cd_ops->co_reset(dev)
|
|
#define dev_setup(dev) dev->cd_ops->co_setup(dev)
|
|
#define dev_shutdown(dev) dev->cd_ops->co_shutdown(dev)
|
|
#define dev_txint(dev,enable) dev->cd_ops->co_txint(dev,enable)
|
|
#define dev_rxint(dev,enable) dev->cd_ops->co_rxint(dev,enable)
|
|
#define dev_ioctl(dev,cmd,arg) dev->cd_ops->co_ioctl(dev,cmd,arg)
|
|
#define dev_remoterequest(dev,id) dev->cd_ops->co_remoterequest(dev,id)
|
|
#define dev_send(dev,m) dev->cd_ops->co_send(dev,m)
|
|
#define dev_txready(dev) dev->cd_ops->co_txready(dev)
|
|
#define dev_txempty(dev) dev->cd_ops->co_txempty(dev)
|
|
|
|
/* CAN message support */
|
|
|
|
#define CAN_MAXDATALEN 8
|
|
#define CAN_MAX_MSGID 0x07ff
|
|
#define CAN_MAX_EXTMSGID 0x1fffffff
|
|
|
|
#define CAN_MSGLEN(nbytes) (sizeof(struct can_msg_s) - CAN_MAXDATALEN + (nbytes))
|
|
|
|
/* Built-in ioctl commands
|
|
*
|
|
* CANIOCTL_RTR: Send the remote transmission request and wait for the response.
|
|
*/
|
|
|
|
#define CANIOCTL_RTR 1 /* Argument is a reference to struct canioctl_rtr_s */
|
|
|
|
/* CANIOCTL_USER: Device specific ioctl calls can be supported with cmds greater
|
|
* than this value
|
|
*/
|
|
|
|
#define CANIOCTL_USER 2
|
|
|
|
/************************************************************************************
|
|
* Public Types
|
|
************************************************************************************/
|
|
/* CAN-message Format (without Extended ID suppport)
|
|
*
|
|
* One based CAN-message is represented with a maximum of 10 bytes. A message is
|
|
* composed of at least the first 2 bytes (when there are no data bytes present).
|
|
*
|
|
* Bytes 0-1: Hold a 16-bit value in host byte order
|
|
* Bits 0-3: Data Length Code (DLC)
|
|
* Bit 4: Remote Tranmission Request (RTR)
|
|
* Bits 5-15: The 11-bit CAN identifier
|
|
*
|
|
* Bytes 2-9: CAN data
|
|
*
|
|
* CAN-message Format (with Extended ID suppport)
|
|
*
|
|
* One CAN-message consists of a maximum of 13 bytes. A message is composed of at
|
|
* least the first 5 bytes (when there are no data bytes).
|
|
*
|
|
* Bytes 0-3: Hold 11- or 29-bit CAN ID in host byte order
|
|
* Byte 4: Bits 0-3: Data Length Code (DLC)
|
|
* Bit 4: Remote Tranmission Request (RTR)
|
|
* Bit 5: Extended ID indication
|
|
* Bits 6-7: Unused
|
|
* Bytes 5-12: CAN data
|
|
*
|
|
* The struct can_msg_s holds this information in a user-friendly, unpacked form.
|
|
* This is the form that is used at the read() and write() driver interfaces. The
|
|
* message structure is actually variable length -- the true length is given by
|
|
* the CAN_MSGLEN macro.
|
|
*/
|
|
|
|
#ifdef CONFIG_CAN_EXTID
|
|
struct can_hdr_s
|
|
{
|
|
uint32_t ch_id; /* 11- or 29-bit ID (3-bits unsed) */
|
|
uint8_t ch_dlc : 4; /* 4-bit DLC */
|
|
uint8_t ch_rtr : 1; /* RTR indication */
|
|
uint8_t ch_extid : 1; /* Extended ID indication */
|
|
uint8_t ch_unused : 2; /* Unused */
|
|
} packed_struct;
|
|
#else
|
|
struct can_hdr_s
|
|
{
|
|
uint16_t ch_dlc : 4; /* 4-bit DLC */
|
|
uint16_t ch_rtr : 1; /* RTR indication */
|
|
uint16_t ch_id : 11; /* 11-bit standard ID */
|
|
} packed_struct;
|
|
#endif
|
|
|
|
struct can_msg_s
|
|
{
|
|
struct can_hdr_s cm_hdr; /* The CAN header */
|
|
uint8_t cm_data[CAN_MAXDATALEN]; /* CAN message data (0-8 byte) */
|
|
} packed_struct;
|
|
|
|
/* This structure defines a CAN message FIFO. */
|
|
|
|
struct can_rxfifo_s
|
|
{
|
|
sem_t rx_sem; /* Counting semaphore */
|
|
uint8_t rx_head; /* Index to the head [IN] in the circular buffer */
|
|
uint8_t rx_tail; /* Index to the tail [OUT] in the circular buffer */
|
|
/* Circular buffer of CAN messages */
|
|
struct can_msg_s rx_buffer[CONFIG_CAN_FIFOSIZE];
|
|
};
|
|
|
|
struct can_txfifo_s
|
|
{
|
|
sem_t tx_sem; /* Counting semaphore */
|
|
uint8_t tx_head; /* Index to the head [IN] in the circular buffer */
|
|
uint8_t tx_queue; /* Index to next message to send */
|
|
uint8_t tx_tail; /* Index to the tail [OUT] in the circular buffer */
|
|
/* Circular buffer of CAN messages */
|
|
struct can_msg_s tx_buffer[CONFIG_CAN_FIFOSIZE];
|
|
};
|
|
|
|
/* The following structure define the logic to handle one RTR message transaction */
|
|
|
|
struct can_rtrwait_s
|
|
{
|
|
sem_t cr_sem; /* Wait for RTR response */
|
|
uint16_t cr_id; /* The ID that is waited for */
|
|
FAR struct can_msg_s *cr_msg; /* This is where the RTR reponse goes */
|
|
};
|
|
|
|
/* This structure defines all of the operations providd by the architecture specific
|
|
* logic. All fields must be provided with non-NULL function pointers by the
|
|
* caller of can_register().
|
|
*/
|
|
|
|
struct can_dev_s;
|
|
struct can_ops_s
|
|
{
|
|
/* Reset the CAN device. Called early to initialize the hardware. This
|
|
* is called, before co_setup() and on error conditions.
|
|
*/
|
|
|
|
CODE void (*co_reset)(FAR struct can_dev_s *dev);
|
|
|
|
/* Configure the CAN. This method is called the first time that the CAN
|
|
* device is opened. This will occur when the port is first opened.
|
|
* This setup includes configuring and attaching CAN interrupts. All CAN
|
|
* interrupts are disabled upon return.
|
|
*/
|
|
|
|
CODE int (*co_setup)(FAR struct can_dev_s *dev);
|
|
|
|
/* Disable the CAN. This method is called when the CAN device is closed.
|
|
* This method reverses the operation the setup method.
|
|
*/
|
|
|
|
CODE void (*co_shutdown)(FAR struct can_dev_s *dev);
|
|
|
|
/* Call to enable or disable RX interrupts */
|
|
|
|
CODE void (*co_rxint)(FAR struct can_dev_s *dev, bool enable);
|
|
|
|
/* Call to enable or disable TX interrupts */
|
|
|
|
CODE void (*co_txint)(FAR struct can_dev_s *dev, bool enable);
|
|
|
|
/* All ioctl calls will be routed through this method */
|
|
|
|
CODE int (*co_ioctl)(FAR struct can_dev_s *dev, int cmd, unsigned long arg);
|
|
|
|
/* Send a remote request */
|
|
|
|
CODE int (*co_remoterequest)(FAR struct can_dev_s *dev, uint16_t id);
|
|
|
|
/* This method will send one message on the CAN */
|
|
|
|
CODE int (*co_send)(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg);
|
|
|
|
/* Return true if the CAN hardware can accept another TX message. */
|
|
|
|
CODE bool (*co_txready)(FAR struct can_dev_s *dev);
|
|
|
|
/* Return true if all message have been sent. If for example, the CAN
|
|
* hardware implements FIFOs, then this would mean the transmit FIFO is
|
|
* empty. This method is called when the driver needs to make sure that
|
|
* all characters are "drained" from the TX hardware before calling co_shutdown().
|
|
*/
|
|
|
|
CODE bool (*co_txempty)(FAR struct can_dev_s *dev);
|
|
};
|
|
|
|
/* This is the device structure used by the driver. The caller of
|
|
* can_register() must allocate and initialize this structure. The
|
|
* calling logic need only set all fields to zero except:
|
|
*
|
|
* The elements of 'cd_ops', and 'cd_priv'
|
|
*
|
|
* The common logic will initialize all semaphores.
|
|
*/
|
|
|
|
struct can_dev_s
|
|
{
|
|
uint8_t cd_ocount; /* The number of times the device has been opened */
|
|
uint8_t cd_npendrtr; /* Number of pending RTR messages */
|
|
uint8_t cd_ntxwaiters; /* Number of threads waiting to enqueue a message */
|
|
sem_t cd_closesem; /* Locks out new opens while close is in progress */
|
|
sem_t cd_recvsem; /* Used to wakeup user waiting for space in cd_recv.buffer */
|
|
struct can_txfifo_s cd_xmit; /* Describes transmit FIFO */
|
|
struct can_rxfifo_s cd_recv; /* Describes receive FIFO */
|
|
/* List of pending RTR requests */
|
|
struct can_rtrwait_s cd_rtr[CONFIG_CAN_NPENDINGRTR];
|
|
FAR const struct can_ops_s *cd_ops; /* Arch-specific operations */
|
|
FAR void *cd_priv; /* Used by the arch-specific logic */
|
|
};
|
|
|
|
/* Structures used with ioctl calls */
|
|
|
|
struct canioctl_rtr_s
|
|
{
|
|
uint16_t ci_id; /* The 11-bit ID to use in the RTR message */
|
|
FAR struct can_msg_s *ci_msg; /* The location to return the RTR response */
|
|
};
|
|
|
|
/************************************************************************************
|
|
* Public Data
|
|
************************************************************************************/
|
|
|
|
/************************************************************************************
|
|
* Public Functions
|
|
************************************************************************************/
|
|
|
|
#undef EXTERN
|
|
#if defined(__cplusplus)
|
|
#define EXTERN extern "C"
|
|
extern "C" {
|
|
#else
|
|
#define EXTERN extern
|
|
#endif
|
|
|
|
/************************************************************************************
|
|
* Name: can_register
|
|
*
|
|
* Description:
|
|
* Register a CAN driver.
|
|
*
|
|
************************************************************************************/
|
|
|
|
EXTERN int can_register(FAR const char *path, FAR struct can_dev_s *dev);
|
|
|
|
/************************************************************************************
|
|
* Name: can_receive
|
|
*
|
|
* Description:
|
|
* Called from the CAN interrupt handler when new read data is available
|
|
*
|
|
* Parameters:
|
|
* dev - The specific CAN device
|
|
* hdr - The 16-bit CAN header
|
|
* data - An array contain the CAN data.
|
|
*
|
|
* Return:
|
|
* OK on success; a negated errno on failure.
|
|
*
|
|
************************************************************************************/
|
|
|
|
EXTERN int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
|
|
FAR uint8_t *data);
|
|
|
|
/************************************************************************************
|
|
* Name: can_txdone
|
|
*
|
|
* Description:
|
|
* Called from the CAN interrupt handler at the completion of a send operation.
|
|
*
|
|
* Parameters:
|
|
* dev - The specific CAN device
|
|
*
|
|
* Return:
|
|
* OK on success; a negated errno on failure.
|
|
*
|
|
************************************************************************************/
|
|
|
|
EXTERN int can_txdone(FAR struct can_dev_s *dev);
|
|
|
|
#undef EXTERN
|
|
#if defined(__cplusplus)
|
|
}
|
|
#endif
|
|
|
|
#endif /* CONFIG_CAN */
|
|
#endif /* _INCLUDE_NUTTX_CAN_H */
|